Re: rtabmap ros2 zed2i

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros2-zed2i-tp10335p10413.html

For the loop closures rejected, there were huge errors " abs error=53.889996 deg" or "abs error=2.591433 m". To debug this, it can be easier to create 2 maps, overlapping where the loop closures should happen. We can then assemble the two maps in same database with:

rtabmap-reprocess "map1.db;map2.db" output.db

rtabmap-databaseViewer output.db

In Database Viewer, open Constraints and Graph Views. Using the main sliders, choose a frame from first map and a second frame on the second map. On Constraints view, click on "Add Constraint". In Core Parmaeters view, it is possible to change "Vis/..." parameters and click again Add Constraint with different parameters. If the loop keeps being rejected by graph deformation rejection like above, set temporary RGBD/OptimizeMaxError to 0 to see if the result makes sense.

You can also share that database here so we can take a look.

Mathieu